-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link", --base_link
  published_frame = "base_link", --base_link
  odom_frame = "odom", --odom
  provide_odom_frame = false, --true
  publish_frame_projected_to_2d = true, --false
  use_pose_extrapolator = true, --true
  use_odometry = false, --false
  use_nav_sat = false,
  use_landmarks = true,
  num_laser_scans = 1,--0
  num_multi_echo_laser_scans = 0, --1
  num_subdivisions_per_laser_scan = 1, --10
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 0.5, --1.
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,

  root_file_directory = "/home/peak/okagv",
  imu_publish_period_sec = 2e-2,
  use_pose_smoother = true,
  smoother_variety_distance = 0.05,
  relocalization_variety_distance = 0.1,
  time_delay_for_relocalization = 0.5,
  time_delay_for_finish_trajectory = 0.5,
  time_delay_for_delete_trajectory = 0.0,
  time_delay_for_start_trajectory = 0.0
  
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 --10

--MAP_BUILDER.num_background_threads = 1

--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1.
--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10.
--TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 50.
TRAJECTORY_BUILDER_2D.use_imu_data = true; --true
--TRAJECTORY_BUILDER_2D.max_range = 20.
--TRAJECTORY_BUILDER_2D.min_range = 0.25
--TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.max_range = 10.
TRAJECTORY_BUILDER_2D.adaptive_voxel_filter.min_num_points = 400.
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05
TRAJECTORY_BUILDER_2D.voxel_filter_size = 0.03

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false --true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 --0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(20.) --math.rad(20.)

--POSE_GRAPH.constraint_builder.log_matches = false
POSE_GRAPH.optimize_every_n_nodes = 90 --90
POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 --0.3
POSE_GRAPH.constraint_builder.max_constraint_distance = 15. --15.
POSE_GRAPH.constraint_builder.log_matches = false -- true
POSE_GRAPH.optimization_problem.log_solver_summary = true --false
POSE_GRAPH.log_residual_histograms = false --true
POSE_GRAPH.constraint_builder.min_score = 0.55 --0.55
--POSE_GRAPH.constraint_builder.global_localization_min_score = 0.6 --0.6

--POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3. --7.
--POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.angular_search_window = math.rad(10.) --math.rad(30.)
--POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3. --7.
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 90

return options
